Model-based architecture concepts for autonomous systems

It is argued that autonomy, as a design goal, offer an arena in which both control and artificial intelligence (AI) paradigms must be applied. Architectures in which AI and control paradigms can be integrated within a model-based approach are discussed. The ability of knowledge-model-based tools (SES/MB framework and DEVS scheme) to support the model-based design of high-autonomy systems is extended through the ability to generate families of planning alternatives and build a hierarchical event-based control structure. Concepts are illustrated by a robot-managed spaceborne laboratory environment